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Epson G10-854SR

Epson G10-854SR Robot Assembly Station and Dispensing Station

The assembly station is divided into the following sub-stations: 3.1 Dispensing Area, 3.2 KK+SW Assembly Area, and 3.3 Front Assembly Area. (KK = Heat Sink, SW = End Wall Bracket)

St. 3.1: Dispensing Area:
- A workpiece carrier (WT) with mounted chassis and PCBs enters the dispensing area via the transfer belt.
- It is stopped at the lifting-positioning unit (HuPo), lifted off the belt, and fixed in place.
- The X-Y-Z handling moves the dispensing head to the designated position and starts the dispensing process.
- After successful dispensing, the handling moves to the rest position, and the WT is placed back on the belt.
- Continued transfer to the KK+SW assembly area (provided there is no WT in the mounting position).

St. 3.2: KK+SW Assembly Area:
- A WT from the dispensing area arrives in the KK+SW assembly area via the transfer belt.
- It is stopped at the lifting-positioning unit (HuPo), lifted off the belt, and fixed in place. The chassis side walls of the partially assembled unit are aligned.
- KK tray and SW tray positioning occurs simultaneously.
- A stack of 12 KK trays and a stack of 12 SW trays are manually placed on their respective infeed conveyors outside the safety enclosure.
- The two safety shutters are opened, and the loaded tray stacks move into the gripper position of the respective stacker.
- The safety shutters are closed again.
- The respective grippers pick up the corresponding tray.
- The tray is separated using the Z-axis and transported upward (above the normal pick-up height).
- For centering and stabilization, a centering support is positioned beneath each tray using X-axis handling.
- With the stacker's Z-axis, the respective tray is placed on the centering support.
- The trays are ready for component pick-up.
- With the multi-gripper on the SCARA robot, the KK is picked up from the tray and placed in an intermediate position as an alignment aid (to achieve exact pick-up positions for assembly).
- The KK is scanned, picked up again, and if the scanner result is OK, mounted onto the WT.
- Any KK that is not OK is placed in a reject box.
- The multi-gripper on the SCARA robot then picks up the SW from the tray and places it in the alignment position.
- The SW is picked up again and mounted onto the WT.
- Assembly continues in the front assembly area.

Technical Data:
Design: SCARA (4-axis robot)
Nominal Load Capacity: 5 kg, Maximum: 10 kg
Horizontal Reach: 850 mm
Vertical Reach: Axis 3: 420 mm
Orientation Range: J4: +/- 360°
Repeatability (Horizontal): +/- 0.025 mm
Repeatability (Vertical, J3): +/- 0.01 mm
Repeatability (Orientation, J4): +/- 0.005°
Maximum Working Range: Axis 1: +/- 152°, Axis 2: +/- 152.5°, Axis 3: 420 mm, Axis 4: +/- 360°
Maximum Operating Speed: J1, J2: +/- 11,000 mm/s, J3: +/- 2,350 mm/s, J4: +/- 2,400°/s
Permissible Inertia: nominal 0.02 kg*m², maximum 0.25 kg*m²
User Wiring (electrical): 1x D-Sub 9 pin, 1x D-Sub 15 pin
Z-Axis: Outer diameter: 25 mm
Press-in Force: 250 N
Weight: 48 kg
Controller: EPSON RC180
Mounting Type: Ceiling
IP Protection Class: IP20
Power and Signal Cables: 3m

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